Three-dimensional reconstruction system and three-dimensional reconstruction method

Abstract

A three-dimensional reconstruction system and a three-dimensional reconstruction method, the system includes: a carrier device which includes a rotatable support and a carrier arranged on the rotatable support, the rotatable support is provided with a rotational axis; a data acquisition device spaced apart from the carrier and configured to collect reflective light data of an object on the carrier when the rotatable support rotates to a corresponding angle and to obtain single-visual-angle data of the object at the corresponding angle; and a data processing device connected with the data acquisition device and configured to perform three-dimensional reconstruction according to the single-visual-angle data and a reconstruction algorithm.

What is claimed is: 
     
       1. A three-dimensional reconstruction system, comprising:
 a carrier device which comprises a rotatable support and a carrier arranged on the rotatable support, the rotatable support comprises a rotational axis; 
 a data acquisition device spaced apart from the carrier and configured to collect reflective light data of an object on the carrier when the rotatable support rotates to a corresponding angle so as to obtain single-visual-angle data of the object at the corresponding angle; and 
 a data processing device connected with the data acquisition device and configured to perform three-dimensional reconstruction according to the single-visual-angle data and a reconstruction algorithm; 
 wherein the three-dimensional reconstruction system further comprises a rotational axis correction surface, the data acquisition device is further configured to collect reflection signals of the rotational axis correction surface so as to obtain reflection data; and the data processing device is further configured to correct the reconstruction algorithm according to the reflection data. 
 
     
     
       2. The three-dimensional reconstruction system according to  claim 1 , wherein the data acquisition device is a chromatic dispersion confocal data acquisition device, and the collected reflective light data is reflection spectrum data. 
     
     
       3. The three-dimensional reconstruction system according to  claim 1 , the data processing device is further configured to calculate a rotational axis position according to the reflection data and correct the reconstruction algorithm according to the rotational axis position. 
     
     
       4. The three-dimensional reconstruction system of  claim 1 , wherein the rotational axis correction surface is arranged on the carrier. 
     
     
       5. The three-dimensional reconstruction system according to  claim 1 , wherein the rotational axis correction surface is a diffuse reflection surface. 
     
     
       6. The three-dimensional reconstruction system of  claim 1 , wherein an initial direction of the rotational axis is perpendicular to an optical path for collection of the data acquisition device. 
     
     
       7. The three-dimensional reconstruction system according to  claim 6 , wherein the carrier device further comprises a horizontal translation carrier, the data acquisition device comprises a vertical lifting platform and a camera arranged on the vertical lifting platform;
 the rotatable support is arranged on the horizontal translation carrier; 
 the data acquisition device is arranged on the vertical lifting platform to enable a height of the data acquisition device relative to the carrier to be adjustable; 
 an initial direction of the rotational axis is parallel to the horizontal translation carrier; 
 an optical path for collection of the data acquisition device is perpendicular to the horizontal translation carrier. 
 
     
     
       8. The three-dimensional reconstruction system according to  claim 7 , wherein the camera at least comprises a broad-spectrum light source, a chromatic dispersion lens and a detector, the broad-spectrum light source, the chromatic dispersion lens and the detector are configured to obtain the single-visual-angle data based on a chromatic dispersion confocal method; the data processing device performs the three-dimensional reconstruction according to the single-visual-angle data of different viewing angles and a conversion matrix of different viewing angles. 
     
     
       9. A three-dimensional reconstruction method performed based on the three-dimensional reconstruction system according to  claim 1 , comprising steps of:
 S 1 , driving the rotatable support to rotate so as to drive an object on the carrier to rotate; 
 S 2 , collecting reflective light data to obtain single-visual-angle data by the data acquisition device when the object rotates to a corresponding angle; and 
 S 3 , performing three-dimensional reconstruction by the data processing device according to the single-visual-angle data of different angles and the reconstruction algorithm; 
 wherein the three-dimensional reconstruction method further comprises a step S 0  of measuring the rotational axis position of the rotatable support and correcting the reconstruction algorithm according to measurement data of the rotational axis position before the step S 1 . 
 
     
     
       10. The three-dimensional reconstruction method according to  claim 9 , wherein the step S 2  specifically comprises:
 irradiating the object with a broad-spectrum light source and collecting single-visual-angle data of the object at different viewing angles based on a chromatic dispersion confocal method. 
 
     
     
       11. The three-dimensional reconstruction method according to  claim 10 , wherein the chromatic dispersion confocal method at least comprises following steps:
 irradiating broad-spectrum light beam through a broad-spectrum light source and generating linear-shaped detection light; 
 projecting the detection light on a surface of the object through a chromatic dispersion lens; 
 moving the object horizontally to complete a surface scanning of the object; and 
 collecting reflective light data of the detection light which penetrates through the object and is reflected by the object by a detector, and processing the reflective light data to obtain the single-visual-angle data. 
 
     
     
       12. The three-dimensional reconstruction method according to  claim 9 , wherein the step S 3  specifically comprises: applying single-visual-angle data of different viewing angles to preset conversion matrixes of corresponding viewing angles and performing three-dimensional data point cloud registration to obtain a three-dimensional reconstructed image through the data processing device. 
     
     
       13. The three-dimensional reconstruction method according to  claim 9 , wherein the step S 0  comprises:
 arranging a rotational axis correction surface in a three-dimensional measurement system; 
 rotating the rotational axis on the rotatable support by a first angle and by a second angle successively based on its current position, and obtaining initial position data of the rotational axis correction surface without rotation, first angular data of the rotational axis correction surface at a first angle, and second angular data of the rotational axis correction surface at a second angle in an initial coordinate system of the system; 
 calculating the rotational axis position according to the first angular data, the second angular data and the initial position data; and 
 incorporating the rotational axis position into an uncorrected reconstruction algorithm to generate a corrected reconstruction algorithm. 
 
     
     
       14. The three-dimensional reconstruction method according to  claim 13 , wherein the step of calculating the rotational axis position according to the first angular data, the second angular data and the initial position data specifically comprises:
 calculating a first angular bisector plane of an initial plane and a first plane, calculating a second angular bisector plane of an initial plane and a second plane; wherein the initial plane corresponds to the initial position data, the first plane corresponds to the first angular data, the second plane corresponds to the second angular data; 
 determining an intersection line of the first angular bisector plane and the second angular bisector plane as the rotational axis position. 
 
     
     
       15. The three-dimensional reconstruction method of  claim 14 , wherein the first angle and the second angle are identical in angular dimension and are opposite in direction in the step S 0 . 
     
     
       16. The three-dimensional reconstruction method according to  claim 13 , wherein the rotational axis correction surface is a diffuse reflection surface. 
     
     
       17. The three-dimensional reconstruction method according to  claim 16 , wherein both the first angle and the second angle are greater than 15 degrees, and the step S 0  is performed in the event that an angular deflection of the rotational axis is greater than or equal to a preset angular deflection.